Commits · c8df9c7e1102553f9f07fae6d28e894f2453240c · Gepetto / quadruped-reactive-walking · GitLab

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Jun 22, 2021
- Choice of MPC with integer + Foot trajectory generator after MPC in case MPC... · b2c5f53f
  Pierre-Alexandre Leziart authored 3 years ago
  b2c5f53f
Dec 02, 2020
- Rename mpc-tsid into scripts · 900bcda4
  Pierre-Alexandre Leziart authored 4 years ago
  
  900bcda4
- Moving mpc-tsid into its own subdirectory · 9bc90cb1
  Pierre-Alexandre Leziart authored 4 years ago
  
  9bc90cb1
Nov 30, 2020
- Remove n_periods parameter · 7994b9cb
  Pierre-Alexandre Leziart authored 4 years ago
  
  7994b9cb
- Add parameter to set the duration of the MPC s prediction horizon · 75e19aa8
  Pierre-Alexandre Leziart authored 4 years ago
  
  75e19aa8
- Avoid loading matplotlib before the robot is loaded in PyBullet + New array to log timestamps · bd79b1fb
  odri authored 4 years ago
  
  bd79b1fb
- Small modifs to run on the robot with the new file architecture · babe40de
  Thomas Flayols authored 4 years ago
  
  babe40de
Sep 09, 2020
- Cleaning code (solving problems notified by linter) · bf7c3a1c
  Pierre-Alexandre Leziart authored 4 years ago
  
  bf7c3a1c
- New plot_fstep_planner function · 5bda89ae
  Pierre-Alexandre Leziart authored 4 years ago
  
  5bda89ae
- Smooth reference velocity profile + Optimization + Function to get back to default position · f2ce01bc
  Pierre-Alexandre Leziart authored 4 years ago and Pierre-Alexandre Leziart committed 4 years ago
  
  f2ce01bc
Sep 08, 2020
- Log shoulder position · 407c4708
  Thomas Corberes authored 4 years ago
  
  407c4708
Jul 20, 2020
- Switch from np.matrix to np.array · 576e4112
  Thomas Corberes authored 4 years ago
  
  576e4112
- Storing footstepplanner fsteps and xref, usefull for relaunching control cycle · ba0397e1
  Thomas Corberes authored 4 years ago
  
  ba0397e1
- Switch from np.matrix to np.array for pinocchio to improve computation time · 34665ebd
  Pierre-Alexandre Leziart authored 4 years ago and Pierre-Alexandre Leziart committed 4 years ago
  
  34665ebd
Jul 17, 2020
- Adapt logger class for both solvers · 38ca9a84
  Thomas Corberes authored 4 years ago
  
  38ca9a84
Jul 13, 2020
- Reduce size of legend in state graph · 04b8a02f
  Pierre-Alexandre Leziart authored 4 years ago
  
  04b8a02f
Jul 06, 2020
- Disable log of cost function (take a lot of time) · abe22e38
  Pierre-Alexandre Leziart authored 4 years ago
  
  abe22e38
Jul 03, 2020
- Add scaling for graphs showing the evolution of state variables · 69d087bc
  Pierre-Alexandre Leziart authored 4 years ago
  
  69d087bc
Jul 01, 2020
- Automatic spacing with linter · e9fd54cf
  Pierre-Alexandre Leziart authored 4 years ago
  
  e9fd54cf
Jun 25, 2020
- Tweak Logger to be able to handle the two MPC solvers · 23e6ca6b
  Pierre-Alexandre Leziart authored 4 years ago
  
  23e6ca6b
- Rework Logger to have cleaner and more useful graphs + Remove unecessary... · 87c2bc6d
  Pierre-Alexandre Leziart authored 4 years ago
  87c2bc6d
Jun 17, 2020
- Add gait period as a parameter in the main function · 23b9fd33
  Pierre-Alexandre Leziart authored 4 years ago
  
  23b9fd33
Jun 12, 2020
- Small fixes + store height of contacts in fstep_planner.z_contacts · b55c3e16
  Pierre-Alexandre Leziart authored 4 years ago
  
  b55c3e16
Jun 11, 2020
- Removed dependencies to the ContactSequencer object as well as unused arguments · a20da07f
  Pierre-Alexandre Leziart authored 4 years ago
  
  a20da07f
- Removed unused functions in Logger.py · 80204edc
  Pierre-Alexandre Leziart authored 4 years ago
  
  80204edc
- Take into account new class and remove some unused parameters · 309e0621
  Pierre-Alexandre Leziart authored 4 years ago
  
  309e0621
Jun 10, 2020
- Following previous commit, rename all mpc_interface into interface and all... · f1b1fe16
  Pierre-Alexandre Leziart authored 4 years ago
  f1b1fe16
Jun 09, 2020
- Clean TSID script and add comments · fbf4892c
  Pierre-Alexandre Leziart authored 4 years ago
  
  fbf4892c
Jun 08, 2020
- Tuning TSID gains · fcdc8f9b
  Pierre-Alexandre Leziart authored 4 years ago
  
  fcdc8f9b
May 29, 2020
- Switching back to MPC + TSID · 8f3d27e9
  Pierre-Alexandre Leziart authored 4 years ago
  
  8f3d27e9
May 28, 2020
- Tuning MPC + Possibily to increase the length of the horizon · 36e690ef
  Pierre-Alexandre Leziart authored 4 years ago
  
  36e690ef
May 25, 2020
- Switching to MPC only · 646a88af
  Pierre-Alexandre Leziart authored 4 years ago
  
  646a88af
May 15, 2020
- Modifications to be able to change the time step of the MPC · 8d8fdc97
  Pierre-Alexandre Leziart authored 4 years ago
  
  8d8fdc97
May 13, 2020
- Add logging of information about one of the foot tracking task · 853aba1d
  Pierre-Alexandre Leziart authored 4 years ago
  
  853aba1d
May 04, 2020
- Fix pos, vel, acc display for feet + R1/L1 to switch gaits + Static gait · 5bdf9be1
  Pierre-Alexandre Leziart authored 4 years ago
  
  5bdf9be1
Apr 29, 2020
- Add logging relative to the cost function and predicted trajectory · a5378ad2
  Pierre-Alexandre Leziart authored 5 years ago
  
  a5378ad2
Apr 24, 2020
- Improved Logger object to log and display information about the simulation · d695d2b3
  Pierre-Alexandre Leziart authored 5 years ago
  
  d695d2b3
Mar 05, 2020
- Update update_M function + Enable prediction terms for footstep planner · fb6695a4
  Pierre-Alexandre Leziart authored 5 years ago
  
  fb6695a4
Feb 27, 2020
- Rotation of MPC's forces to fit TSID's yaw angle + Small changes · a0158acb
  Pierre-Alexandre Leziart authored 5 years ago
  
  a0158acb
Feb 25, 2020
- Assignment of forces depending on contact sequence · c8de555f
  Pierre-Alexandre Leziart authored 5 years ago
  
  c8de555f